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IEEE International Symposium on Industrial Electronics (ISlE 2009)Seoul Olympic Parktel, Seoul, Korea July 5-8, 2009

Modeling of a Variable Speed Wind Turbine with aPermanent Magnet Synchronous GeneratorAlejandro Rolan', Alvaro Luna, Gerardo Vazquez,Daniel AguilarElectrical Department ofEngineeringTechnical University of CataloniaColom 1- 08222-Terrassa, Spain'Contact Author: [email protected]:- The aim of this work is to analyze a typicalconfiguration of a Wind Turbine Generator System (WTGS)equipped with a Variable Speed Generator. Nowadays, doublyfed induction generators are being widely used on WTGS,although synchronous generators are being extensively utilizedtoo. There are different types of synchronous generators, but themulti-pole Permanent Magnet Synchronous Generator (PMSG) ischosen in order to obtain its model. It offers better performancedue to higher efficiency and less maintenance since it does nothave rotor current and can be used without a gearbox, which alsoimplies a reduction of the weight of the nacelle and a reduc tion ofcosts. Apart from the generator, the analyzed WTGS consists of

another three parts : wind speed, wind turbine and drive train.These elements have been modeled and the equations that explaintheir behavior have been int roduced. What is more, the wholeWTGS has been implemented in MATLAB/Simulink interface.Moreover, the concept of t he Max imum Power Point Track ing(MPPT) has been pre sented in terms of the adjustment of thegenerator rotor speed according to instantaneous wind speed.

I. INTRODUCTIONThe utilization of wind energy has a very long tradition.Some historians suggest that wind turbines (windmills) wereknown over 3000 years ago [1]. Until the early twentiethcentury wind power was used to provide mechanical power topump water or to grind grain.The first wind turbines appeared at the beginning of the lastcentury and technology was improved step by step from theearly 1970s. By the end of the 1990s, wind energy has reemerged as one of the most important sustainable energyresources, partly because of the increasing price of the oil,security concerns of nuclear power and its environmentalissues. Moreover, as wind energy is abundant and it has aninexhaustible potential, it is one of the best technologies today

to provide a sustainable electrical energy supply to the worlddevelopment.Actually, during the last decade of the twentieth century,worldwide wind capacity doubled approximately every threeyears. Currently, five countries (Germany, USA, Denmark,India and Spain) concentrate more than 83% of worldwidewind energy capacity in their countries [2]. Studies have shownthat by the end of 2003, the total installed capacity of the windturbines reached 39.234 GW and will exceed 110 GW by theyear of2012 [3].

978-1-4244-4349-9/09/$25.00 2009 IEEE

Gustavo AzevedoElectrical Department of Engineering and Power SystemsFederal University of Pernambuco (UFPE)Recife, Pernambuco Brazil

The need for increased power production from the wind andeconomic reasons, when the rated power of today's windturbines is still relatively small (2MW units are now typical),makes it necessary to group wind turbines into so-called windfarms.Wind farms are built on land, but in recent years there hasbeen (and will probably be in the future) a strong trend towardslocating them offshore. The lack of suitable wind turbine siteson land (it is particularly the case of densely populatedcountries) and the highest wind speeds located near the sea(and consequently higher energy can be extracted from thewind) are the two main reasons for locating wind farmsoffshore. Horns Rev in Denmark [4] is an example of a currentoffshore wind farm, which is capable of producing 160MW.Both induction and synchronous generators can be used forwind turbine systems [6]. Mainly, three types of inductiongenerators are used in wind power conversion systems: cagerotor, wound rotor with slip control and doubly fed inductionrotors. The last one is the most utilized in wind speedgeneration because it provides a wide range of speed variation.However, the variable-speed directly-driven multi-polepermanent magnet synchronous generator (PMSG) windarchitecture is chosen for this purpose and it is going to bemodeled: it offers better performance due to higher efficiencyand less maintenance because it does not have rotor current.What is more, PMSG can be used without a gearbox, whichimplies a reduction of the weight of the nacelle and reductionof costs.The present research article analyzes the model of a variablespeed wind turbine equipped with 2MW PMSG. It must benoted that the present research focuses neither on the converter(grid side and rotor side) nor on their controls.

II . SYSTEM DESCRIPTIONThe system analyzed is a variable speed wind turbine basedon a multi-pole PMSG. Due to the low generator speed, therotor shaft is coupled directly to the generator, which meansthat no gearbox is needed. The generator is connected to thegrid via an AC/DCIAC converter, which consists of anuncontrolled diode rectifier, an internal DC-Link modeled as acapacitor and a PWM voltage-source inverter.

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B. WindTurbine ModelThe rotor aerodynamics are presented by the well-knownstatic relations [I ] , [2], [8], [9]I 3t; =cP"2pAvw (2)

where P; is the power extracted from the wind [W], p is the airGrid density , which is equal to 1.225 kg/m' at sea level atL ---'T1",-----J-.>


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TABLE IWIND TURBINE PARAMETERS

ParameterAir densityRotor radiusRated wind speedMaximum Cp

SymbolPRr.;epmax

Value and Units1.205 kg/m'38m11.8rn/s0.4412

(7)

C. Drive Train ModelThe drive train of a wind turbine generator system consistsof the following elements: a blade-pitching mechanism with aspinner, a hub with blades, a rotor shaft and a gearbox withbreaker and generator. It must be noted that gearbox is notconsidered because the analyzed system consists of a windturbine equipped with a multi-pole PMSG.The acceptable (and common) way to model the drive trainis to treat the system as a number of discrete masses connectedtogether by springs defined by damping and stiffuesscoefficients (Fig. 7). Therefore, the equation of ith massmotion can be described as follows [1], [11]:

d 2 ()jdt 2

When the complexity of the study varies, the complexity ofthe drive train differs. For example, when the problems such astorsional fatigue are studied, dynamics from all parts have to beconsidered. For these purposes , two-lumped mass or moresophisticated models are required. However, when the studyfocuses on the interaction between wind farms and AC grids,the drive train can be treated as one-lumped mass model for thesake of time efficiency and acceptable precision [5], [11]. Thelast approximation has been considered in the present studyand it is defined by the following equation

Fig. 7. Transmission model of N masses connected together.

where v, is the transmission rate between i and i-Imasses, c, isthe shaft viscosity [kg/(m's)], k, is the shaft elastic constant[N/m], J is the moment of inertia of the ith mass [kg-rrr'] , t, isthe external torque [Nrn] applied to the ith mass and D, is thedamping coefficient [N'm/s], which represents variousdamping effects. For the purposes of the present research,neither viscosity nor damping effects have been considered.

PwWindP ower

PerformanceCoeflicient

Product

---+--- theta=QO- x- theta=5~---e-- theta=150-B- theta=2QO~

0.5 i - ---r- ---,- - -,-- ---r- - F = = = = il0.40.35

0.45

thetajn i

Aerodynamc Torque

0.2{!; 0.25

0.15

0.3

0. 1

Table I shows the parameters of the analyzed wind turbine.Fig. 6. Wind Turbine modeled with Simulink.

ChordFig. 4 . Blade pitch angle .9 .

Fig. 5. Analytical approximation of Cp ( /L ,.9) characteristics.

The C p = C p (/L, .9) characterist ics computed taking intoaccount (12) and (13), the above parameters C r C6 and the windturbine parameters (table I), for various blade pitch angles.9,are presented in Fig. 5.

The model of the wind turbine implemented in Simulink isshown in Fig. 6.

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(10)

(II)

Fig. 9. d-q and a-fJ axis of a typical salient-pole synchronous machine.

where p is the number of pole pairs of the generator.In order to complete the mathematical model of the PMSGthe mechanical equation is needed, and it is described by thefollowing electromagnetic torque equation [10]

The mathematical model of the PMSG for power system andconverter system analysis is usually based on the followingassumptions [9], [10]: the stator windings are positionedsinusoidal along the air-gap as far as the mutual effect with therotor is concerned; the stator slots cause no appreciablevariations of the rotor inductances with rotor position;magnetic hysteresis and saturation effects are negligible; thestator winding is symmetrical; damping windings are notconsidered; the capacitance of all the windings can beneglected and the resistances are constant (this means thatpower losses are considered constant).The mathematical model of the PMSG in the synchronousreference frame (in the state equation form) is given by [10],[II]

where subscripts d and q refer to the physical quantities thathave been transformed into the d-q synchronous rotatingreference frame, R, is the stator resistance [n ], Ld and Lq arethe inductances [H] of the generator on the d and q axis, L id andLlq are the leakage inductances [H] of the generator on the dand q axis, respectively, 'PI is the permanent magnetic flux[Wb] and We is the electrical rotating speed [rad/s] of thegenerator, defined by

nK Ie; 0Jeq 0.3 kg-rn'

1 - t - " - - ~ - - 1 H 1wg

Symbol Value and UnitsarameterGear ratioRotational damping coefficientEquivalent inertia (turbin e+generator)

Fig. 8. Drive Train modeled with Simulink.Table II shows the parameters of the drive train that has beenconsidered.

TABLE IIDRIVE TRAIN PARAMETERS

D. Generator ModelThe PMSG has been considered as a system which makespossible to produce electricity from the mechanical energyobtained from the wind.The dynamic model of the PMSG is derived from the twophase synchronous reference frame, which the q-axis is 90ahead of the d-axis with respect to the direction of rotation.The synchronization between the d-q rotating reference frameand the abc-three phase frame is maintained by utilizing aphase locked loop (PLL) [10]. Fig. 9 shows the d-q referenceframe used in a salient-pole synchronous machine (which is thesame reference as the one used in a PMSG), where e is themechanical angle, which is the angle between the rotor d-axisand the stator axis.

doi, Te-Tw _g_Bm,w (8)dt J eq J eq g

where the sub-index g represents the parameters of thegenerator side, wg is the mechanical angular speed [rad/s] ofthe generator, Em is the damping coefficient [Nrn/s], t ; is theelectromechanical torque [Nrn], Tw_g is the aerodynamic torquethat has been transferred to the generator side (3), which isequal to the torque produced in the rotor side because there isno gearbox, and Jeq is the equivalent rotational inertia of thegenerator [kg-rrr'], which is derived from [5]

Jeq=Jg+J; (9)ngwhere Jg and J; are the generator and the rotor rotationalinertias [kg-rn"] respectively, ng is the gear ratio, which is equalto I, because no gearbox is utilized.The model of the one mass drive train implemented inSimulink is depicted in Fig. 8.

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Fig. 10 shows the equivalent circuit of the PMSG in de d-qsynchronous rotating reference frame. (13)

where wr opt is the optimum rotor speed [rad/s] and Pgen is themeasured generated power [W].This is the base of the well-known Maximum Power PointTracking (MPPT) [12], [13]: from the prior treatment of thewind turbine model it can be appreciated that in order to extractthe maximum amount of power from the incident wind, Cpshould be maintained at a maximum. In order to achieve thisobjective, it can be appreciated from Fig. 5 that the speed ofthe generator rotor must be optimized according toinstantaneous wind speed (this optimization is achieved byusing (13)).

I) . ' (Lq,+Lb ) iq id

I) . ' ( (Ld+L1Hd+'I'r) iqa) d-axis equivalent circuit

r,

The Basic parameters of the PMSG are given in Table III.

Fig. 12. Power vs. speed curves for different wind speeds and optimum powergenerated as a function of generator speed and wind speed.

I-,--II

1.1 1.2 1.3 1.4

--+-- Pw at VW=8m1S : :2.5 - - - : - : __ : ' _ _ -l __ -l __ { _

-e-- Pw at Vw=14m/s I2 ~ Pgopt=Kp opt w3 - -: - - - : - - - -

I I I I I II I I I I I I1.5 - -1- - -1- - -1- - -1---1--. . . , -- --1 -I I I I I I II I I I I I I I

1 - - : - - - : - - -:- - - : - - -: - - F ~ ' = ~I I I I I I I

0.5 - - : - - - : - - ' - " " - - ~ 7 ~ --I ~ , ~

I I I I I Io -- I- - - I- - - I- - - I- -- I - - --j - -- j - - - -t - -I I I I I I I II I I I I I I I

. ~ . 4 0.5 0.6 0.7 0.6 0.9w (pu)

b) q-axis equivalent circuit

u

Fig. 10. Equivalent circuit of the PMSG in the synchronous frame.

The model of the PMSG implemented in Simulink ISdepicted in Fig. 11.

fluxTABLE III

GENERATOR PARAMETERSSymbol

uq

ParameterRated generated powerRated mechanical speedStator resistanceStator d-axis inductanceStator q-axis inductanceStator leakage inductancePermanent magnet fluxPole pairs

P genratedW g ratedR,Ld.i ;LI,'PP

Value and Units2MW2.18 rad/s0.08Q0.334 H0.217 H0.0334 H0.4832 Wb3

R,Fig. II . PMSG modeled with Simulink.

By analyzing the power produced by the wind turbine atvarious wind and rotor speeds, as depicted in Fig. 12, it can beappreciated that an optimum power coefficient constant Kp optexists. This coefficient show the generated power associatedwith the corresponding optimum rotor speed [1], [2], [8]. Kp optis calculated from individual wind turbine characteristics. Bymeasuring generated power, the corresponding optimum rotorspeed can be calculated and set as the reference speedaccording to [1]

IV. CONCLUSIONThe modeling of a variable speed wind turbine with apermanent magnet synchronous generator has been treated.The model has been implemented in MATLAB/Simulink inorder to validate it. CI' curves and power-speed characteristicshave been obtained.The generator has been modeled in the d-q synchronousrotating reference frame, taking into account differentsimplifications. Moreover, the concept of the maximum powerpoint tracking has been presented in terms of the adjustment ofthe generator rotor speed according to instantaneous windspeed.

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ACKNOWLEDGMENTThis research work has been developed under the grantENE2008-06588-C04-03/ALT from the Spanish Ministry ofScience and Technology.

REFERENCES[1] Z. Lubosny. Wind Turbine Operation in Electric Power Systems. Berlin:Springer, 2003.[2] T. Ackermann. Wind Power in Power Systems. New York: John Wiley &Sons, 2005.[3] The American Wind Energy Association (2004, March). Global windpower growth continues to strengthen [Online]. Available:http://www.ewea.org.[4] Horns Rev Off shore Wind Farm Technical Repor t (2007). Available:http://www.homsrev.dk.[5] M. Yin, G.Li, M. Zhou and C. Zhao. "Modelling of the windturbine withpermanent magnet synchronous generator for integration". IEEE PowerEngineering Society General Meeting, Tampa, Florida, 2007, pp. 1-6.[6] J . G. Slootweg, S. W. H. de Haan, H. Pol inder and W. L. Kling. "GeneralModel for Representing Variable Speed Wind Turbines in Power SystemDynamics Simulations". IEEE Transactions on Power Systems, vol. 18,no. 1,2003.[7] P. M. Anderson and A. Bose. "St abi li ty Simu la ti on of Wind TurbineSystems". IEEE Transactions on Power Apparatus and Systems, vol.

PAS-I02, no. 12,1983.[8] S. Heier, Grid Integration of Wind Energy Conversion Systems. NewYork: John Wiley & Sons, 1998.[9] 1. L. Rodriguez, 1.C. Burgos and L. Amalte. Sistemas E6licos deProduccion de Energia Electrica. Madrid: Editorial Rueda S.L, 2003.[10] C. Krause. Analysis of electric machinery. 2nd Edition. United States ofAmerica: Willey, 2002.[11] I. Boldea. Synchronous Generators. United States of America: Taylorand Francis, 2006.[12] G. Ramtharan and N. Jenkins . "Modell ing and Control of SynchronousGenerators for Wide-Range Variable-speed Wind Turbines" . WindEnergy, Wiley Interscience, vol. 10, pp. 231-246, March 2007.[13] M. Chinchilla , S. Arna lte s and 1. C. Burgos. "Con trol of PermanentMagnet Generators Applied to Variable-Speed Wind-Energy SystemsConnec ted to the Grid". IEEE Transactions on Energy Conversion,vol. 21, no. 1,2006.

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